Stator splicing gap determination method and device, computer equipment and storage medium

Abstract

The invention discloses a stator splicing gap determination method and device, computer equipment and a storage medium, and is applied to a linear conveying system, the linear conveying system comprises a plurality of stator units, at least one rotor unit and a control unit, two adjacent stator units are spliced and fixed, and a splicing gap is formed between the two adjacent stator units. The control unit controls the rotor unit to slide along each stator unit; the at least one mover unit comprises a first mover unit, the plurality of stator units comprise a first stator unit and a second stator unit, and the method comprises the following steps: connecting the first mover unit with the second mover unit through a connecting piece, and obtaining the distance between the first mover unit and the second mover unit; the first mover unit is controlled to be located in the first stator unit interval, and the second mover unit is controlled to be located in the second stator unit interval; acquiring a first absolute position of the first mover unit and a second absolute position of the second mover unit; and determining a splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance. The method is easy to operate and low in correction cost, and the absolute position of the encoder is compensated by calculating the splicing gap, so that the positioning precision of the system is improved, and the speed fluctuation of the system is reduced.

Description

Technical Field

[0001] The present application relates to the field of industrial control technology, and in particular to a method, device, computer equipment and storage medium for determining a stator splicing gap. Background Art

[0002] With the rapid development of industrial control technology and the continuous advancement of manufacturing industry upgrading, a huge market has been provided for the development of the servo industry. As a feedback device in the servo system, the encoder effectively improves its working accuracy. In linear conveying systems, absolute linear and circular encoders are generally used. Because each position is absolutely unique and anti-interference, they have been increasingly widely used in angle, length measurement and positioning control in various industrial systems.

[0003] Considering the cost, long-distance linear and circular rail systems are composed of multiple stator units. However, due to factors such as assembly process and module differences, the encoders after splicing have splicing errors when solving the position, which leads to motor speed fluctuations and poor positioning accuracy. Summary of the invention

[0004] The embodiments of the present application provide a method, apparatus, computer device and storage medium for determining a stator splicing gap, aiming to solve the problem of low encoder positioning accuracy caused by stator splicing errors in a linear system.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present application provides a method for determining a stator splicing gap, which is applied to a linear conveying system, wherein the linear conveying system includes a plurality of stator units, at least one mover unit, and a control unit, wherein two adjacent stator units are spliced ​​and fixed and have a splicing gap, and the control unit controls the mover unit to slide along each stator unit; the at least one mover unit includes a first mover unit, and the plurality of stator units include a first stator unit and a second stator unit, and the method includes:

[0006] Connecting the first mover unit to the second mover unit through a connecting member, and obtaining a distance between the first mover unit and the second mover unit;

[0007] Controlling the first mover unit to be located in the first stator unit interval, and controlling the second mover unit to be located in the second stator unit interval;

[0008] Acquire a first absolute position of the first mover unit and a second absolute position of the second mover unit;

[0009] A splicing gap between the first stator unit and the second stator unit is determined according to the first absolute position, the second absolute position, and the distance.

[0010] In one embodiment, obtaining the distance between the first mover unit and the second mover unit includes:

[0011] Controlling the first mover unit and the second mover unit to be located in the same stator unit interval;

[0012] Acquiring a third absolute position of the first mover unit and a fourth absolute position of the second mover unit;

[0013] The distance between the first mover unit and the second mover unit is determined according to the third absolute position and the fourth absolute position.

[0014] In one embodiment, obtaining the distance between the first mover unit and the second mover unit includes:

[0015] The preset length value associated with the connecting member is determined as the distance between the first mover unit and the second mover unit.

[0016] In one of the embodiments, detection chips are provided on the multiple stator units, and an encoder-mover assembly is provided on the mover unit corresponding to the detection chip. The detection chip senses the encoder-mover assembly to detect the position of the mover unit, and the encoder-mover assembly is located at the lateral center of the mover unit.

[0017] In one embodiment, obtaining the distance between the first mover unit and the second mover unit includes:

[0018] Acquire a transverse center distance between the first mover unit and the second mover unit;

[0019] The determining a splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance includes:

[0020] The splicing gap is obtained by subtracting the sum of the lateral center distance and the first absolute position from the second absolute position.

[0021] In one embodiment, the length of the connecting member is smaller than the maximum distance between the first stator unit and the second stator unit.

[0022] In one embodiment, after determining the splicing gap between the first stator unit and the second stator unit, the method further includes:

[0023] When the mover unit moves from the first stator unit to the second stator unit via the splicing gap, acquiring the alignment position of the mover unit;

[0024] The absolute position of the mover unit is compensated according to the assembly gap.

[0025] In order to achieve the above-mentioned purpose, the embodiment of the present application further provides a splicing gap determination device, which is applied to a linear conveying system, wherein the linear conveying system includes a plurality of stator units, at least one mover unit, and a control unit, wherein two adjacent stator units are spliced ​​and fixed and have a splicing gap, and the control unit controls the mover unit to slide along each stator unit; the at least one mover unit includes a first mover unit, and the plurality of stator units include a first stator unit and a second stator unit, including:

[0026] a distance acquisition unit, used to connect the first mover unit with the second mover unit through a connecting member, and acquire the distance between the first mover unit and the second mover unit;

[0027] The control unit is further used to control the first mover unit to be located in the first stator unit interval, and control the second mover unit to be located in the second stator unit interval;

[0028] a position acquisition unit, configured to acquire a first absolute position of the first mover unit and a second absolute position of the second mover unit;

[0029] A gap determination unit is used to determine a splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance.

[0030] In order to achieve the above-mentioned purpose, an embodiment of the present application provides a computer device, which includes: a memory, a processor, and a stator splicing gap determination method program stored in the memory and running on the processor, and when the stator splicing gap determination method program is executed by the processor, the steps of the stator splicing gap determination method as described above are implemented.

[0031] To achieve the above-mentioned purpose, an embodiment of the present application provides a computer-readable storage medium, which stores a stator splicing gap determination method program. When the stator splicing gap determination method program is executed by a processor, the steps of the stator splicing gap determination method described in the claim are implemented.

[0032] A method, device, computer equipment and storage medium for determining a stator splicing gap provided in an embodiment of the present application are applied to a linear conveying system, and the method includes: connecting the first mover unit to the second mover unit through a connecting piece, obtaining the distance between the first mover unit and the second mover unit; controlling the first mover unit to be located in the first stator unit interval, and controlling the second mover unit to be located in the second stator unit interval; obtaining the first absolute position of the first mover unit and the second absolute position of the second mover unit; determining the splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance. The method is easy to operate and has a low correction cost. By calculating the splicing gap to compensate for the absolute position of the encoder, the positioning accuracy of the system is improved and the speed fluctuation of the system is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the linear conveying system structure provided for this application;

[0034] Figure 2 A schematic diagram of stator splicing error provided for this application;

[0035] Figure 3 A schematic diagram of the flow chart of the method for determining the stator splicing gap provided in this application;

[0036] Figure 4 A functional module diagram of a stator splicing gap determination device provided in this application;

[0037] Figure 5 It is a schematic diagram of the structure of the computer device involved in the embodiment of the present application.

[0038] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The above-mentioned drawings are only an embodiment diagram, not the entire application. DETAILED DESCRIPTION

[0039] In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0040] A method, device, computer equipment and storage medium for determining a stator splicing gap provided in an embodiment of the present application are applied to a linear conveying system. The linear conveying system may include a straight segment and / or a ring segment, such as Figure 1Taking a straight line segment as an example, the linear conveying system 1 includes a plurality of stator units 11, at least one mover unit 12, and a control unit 42 (not shown in the figure). Two adjacent stator units are spliced ​​and fixed and have a splicing gap C. The control unit controls the mover unit 12 to slide along each stator unit 11.

[0041] It should be noted that the number of mover units in the embodiment of the present application is not limited to 1, and can be 2, 3, 4, 5, etc., and multiple numbers can be set according to actual working conditions, and there is no limitation here, that is, the embodiment of the present application can be applied to a single-motor linear conveying system, and can also be applied to a multi-motor linear conveying system. In the embodiment of the present application, there are multiple stator units, which are spliced ​​along the track of the linear conveying system, and the specific number is set according to the actual working conditions, and there is no limitation here.

[0042] The linear conveying system 1 also includes an encoder 13 for position detection, which generally adopts an absolute encoder, such as an absolute magnetic encoder, an absolute optical encoder, an absolute inductive encoder, etc. The encoder 13 calculates the corresponding position according to the characteristics of the mover unit 12 and the stator unit 11. The encoder 13 includes a positioning component 132 located on the mover unit 12 and a sensing component 131 located on the stator unit 11. The position in the stator unit 11 can be obtained by the encoder 13, and the absolute position of the mover unit 12 can be calculated by adding the starting offset of the stator unit 11.

[0043] refer to Figure 2 As shown, in actual working conditions, since the linear conveying system is spliced ​​by multiple sections of stator units 11, when the mover unit 12 moves along the stator unit 11, the splicing gap of the stator unit 11 cannot be confirmed due to the installation error when the stator unit 11 is spliced ​​and the difference in materials. Therefore, the accuracy of the position solution of the mover unit 12 when it moves across the stator cannot be guaranteed, resulting in an absolute position jump of the mover unit 12 when passing the splicing point, and the value of the absolute position jump is the splicing error.

[0044] In order to solve the above-mentioned assembly error problem, an embodiment of the present application provides a method for determining a stator splicing gap, which is applied to the above-mentioned linear conveying system, taking any two mutually spliced ​​stator units as an example, that is, the at least one movable unit 12 can include a first movable unit 121, and the multiple stator units 11 include a first stator unit 111 and a second stator unit 112.

[0045] like Figure 3 As shown, an embodiment of the present application provides a method for determining a stator splicing gap, comprising:

[0046] Step 301: Connect the first mover unit to the second mover unit via a connecting member.

[0047] Specifically, Figure 1 As shown, the connecting member 2 connects the first mover unit 121 and the second mover unit 122. Since there is a gap at the joint of the first stator unit 111 and the second stator unit 112, a splicing error will occur when the mover unit passes through the gap. Therefore, it is necessary to calculate the splicing error for position compensation to obtain an accurate absolute position.

[0048] It should be noted that the embodiment of the present application can be applied to a single-motor linear conveying system or a multi-motor linear conveying system. When the embodiment of the present application is applied to a multi-motor linear conveying system, the second mover unit 122 is one of the mover units of the linear conveying system; when the embodiment of the present application is applied to a single-motor linear conveying system, the second mover unit 122 is an additional component assembled to calculate the stator splicing gap.

[0049] Step 302: Obtain a distance L between the first mover unit and the second mover unit.

[0050] Specifically, the distance L represents the actual position difference between the first mover unit 121 and the second mover unit 122 , and a preset value can be obtained as the distance through theoretical calculation or multiple experiments, or the distance can be obtained by moving the connecting member to perform position calculation.

[0051] Step 303: Control the first mover unit to be located in the first stator unit interval, and control the second mover unit to be located in the second stator unit interval.

[0052] Specifically, the control unit 42 can be used to control the first mover unit 121 and the second mover unit 122 to be located in the first stator unit 111 interval and the second stator unit 112 interval respectively, so that the connecting member 2 connects the first mover unit 121 and the second mover unit 122 across the stator, that is, the two movers are moved to both sides of the splicing point.

[0053] It should be noted that the length of the connector 2 can be set to be smaller than the maximum distance between the first stator unit 111 and the second stator unit 112, so that the connector 2 can only connect the mover unit across the two stator units. Of course, in actual working conditions, the connector 2 can also connect across multiple stator units, which is not limited here.

[0054] It should be noted that the order of steps 302 and 303 of the present application is not limited. Step 302 can be executed first, or step 303 can be executed first, or they can be executed simultaneously. There is no limitation here.

[0055] Step 304: Acquire a first absolute position of the first mover unit and a second absolute position of the second mover unit.

[0056] Specifically, the first absolute position L1 of the first mover unit 121 and the second absolute position L2 of the second mover unit 122 may be acquired respectively through the encoder 13 .

[0057] Step 305: Determine a splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance.

[0058] Since the first absolute position L1 of the first mover unit and the second absolute position L2 of the second mover unit 122 represent the absolute positions of the mover units, and the distance L between the first mover unit and the second mover unit represents the actual position difference between the two movers, the splicing gap can be calculated according to the absolute position and actual position difference between different stators. For example, splicing gap C = second absolute position L2-first absolute position L1-distance L. It should be noted that the embodiments of the present application can also use other calculation methods based on the above L1, L2 and L to obtain the splicing gap C, which is not limited here.

[0059] A method for determining a stator splicing gap provided in an embodiment of the present application includes connecting the first mover unit to the second mover unit through a connecting piece, obtaining the distance between the first mover unit and the second mover unit; controlling the first mover unit to be located in the first stator unit interval, and controlling the second mover unit to be located in the second stator unit interval; obtaining the first absolute position of the first mover unit and the second absolute position of the second mover unit; and determining the splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance. The method is easy to operate and has a low correction cost. By calculating the splicing gap to compensate for the absolute position of the encoder, the positioning accuracy of the system is improved and the speed fluctuation of the system is reduced.

[0060] As an example, in step 302, obtaining the distance between the first mover unit and the second mover unit specifically includes:

[0061] Step 3021: Control the first mover unit and the second mover unit to be located in the same stator unit interval;

[0062] Step 3022: Acquire a third absolute position of the first mover unit and a fourth absolute position of the second mover unit;

[0063] Step 3023: Determine the distance between the first mover unit and the second mover unit according to the third absolute position and the fourth absolute position.

[0064] Since the third absolute position L3 of the first mover unit and the fourth absolute position L4 of the second mover unit 122 represent the absolute positions of the mover units, and the distance L between the first mover unit and the second mover unit represents the actual position difference between the two movers, and the absolute position difference and the actual position difference between the two movers in the same stator interval should remain equal. Therefore, mover distance L = second absolute position L4 - first absolute position L3. It should be noted that the embodiment of the present application can also use other calculation methods based on the above L3 and L4 to obtain the mover distance L, which is not limited here. The calculation method of the distance L between movers provided in the embodiment of the present application is simple and easy to operate.

[0065] As an example, the length of the connecting member 2 is less than the length of any stator unit, so that it can connect the mover units in the same stator unit interval to calculate the mover distance L.

[0066] As another example, in step 301, since the connector 2 connects the two movers, the preset length value associated with the connector 2 can be determined as the distance L between the first mover unit 121 and the second mover unit 122. Specifically, the associated length value can be calculated or obtained by experiment based on the length of the connector and its positional relationship with the mover, and used as the distance L. For example, one end of the connector 2 is fixed to the lateral center of the first mover unit 121 through the locking attachment 1, and the other end of the connector 2 is fixed to the lateral center of the second mover unit 122 through the locking attachment 2; the position information of the connector locking attachment 1 and the locking attachment 2 can be obtained, and the length between the locking attachment 1 and the locking attachment 2 is used as the distance L. The method for calculating the distance L between movers provided in the embodiment of the present application is simple and easy to operate.

[0067] As an example, the encoder in the embodiment of the present application is an absolute value encoder, and an absolute value encoder is generally used, such as an absolute value magnetic encoder, an absolute value optical encoder, and an absolute value inductive encoder. Their detection principles are similar and can be applied to the position detection of the above-mentioned linear conveying system.

[0068] The following takes an absolute value magnetic encoder as an example. The magnetic encoder mainly includes a magnetic field generating device and a sensor detection device. The magnetic field generating device is generally a sensor mover magnet and its structural parts. The sensor detection device includes a detection chip and a signal solution circuit. Specifically, a detection chip 131 is provided on each stator unit 11, and an encoder mover assembly 132 is provided on the mover unit 12 corresponding to the detection chip 131. The detection chip 131 senses the encoder mover assembly 132 to detect the position of the mover unit. Specifically, during the movement of the mover unit, the magnetic field generated by the encoder mover assembly 132 will act on different detection chips 131. Since different detection chips 131 are subjected to different magnetic field effects, the position information of the encoder mover assembly 132 can be obtained by solving the difference output signal of the detection chip 131, and then the position of the mover unit 12 of the linear conveying system can be solved.

[0069] As an example, the encoder mover assembly 132 may be arranged at the transverse center of the mover unit. To facilitate the calculation of the distance L between the movers, in step 302, the distance L between the first mover unit and the second mover unit is obtained, that is, the transverse center distance between the first mover unit 121 and the second mover unit 122 is obtained. The specific calculation method of the distance L can refer to the above embodiment and will not be repeated here.

[0070] In step 305, the determination of the splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance includes: subtracting the sum L1 of the transverse center distance L and the first absolute position from the second absolute position L2 to obtain the splicing gap C. That is, the splicing gap C = the second absolute position L2 - the first absolute position L1 - the distance L. It should be noted that the embodiment of the present application can also use other calculation methods based on the above L1, L2 and L to obtain the splicing gap C, which is not limited here.

[0071] In the method for determining the stator splicing gap provided in the present application, after determining the assembly error, the linear transmission system 1 starts to operate normally, and the encoder 13 compensates the real-time position according to the splicing gap C. It should be noted that before step 306, for a multi-motor linear transmission system, the connector 2 can be removed; for a single-motor linear transmission system, the connector 2 and the first mover unit 122 can be removed to enable the linear transmission system to operate normally.

[0072] Specifically, the method further includes step 306, when the mover unit moves from the first stator unit 111 to the second stator unit 112 via the splicing gap, the relative position of the mover unit is obtained, and the absolute position of the mover unit is compensated according to the splicing gap C. The absolute position of the mover in the second stator unit 112 interval after compensation = the absolute position of the mover in the second stator unit 112 interval before compensation - the splicing error C, and the splicing errors of other stator units are also processed according to this method, which will not be repeated here.

[0073] A method for determining a stator splicing gap is provided in an embodiment of the present application. The splicing gap can be calculated based on the absolute position and actual position difference between different stators. The method is easy to operate and has low correction cost. The splicing gap is calculated to compensate for the absolute position of the encoder, thereby improving the system positioning accuracy and reducing the system speed fluctuation.

[0074] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0075] Based on the same inventive concept, Figure 4 As shown, the present application also provides a stator splicing gap determining device, which is applied to a linear conveying system 1, wherein the linear conveying system 1 includes a plurality of stator units 11, at least one mover unit 12, and a control unit, wherein two adjacent stator units are spliced ​​and fixed and have a splicing gap, and the control unit controls the mover unit to slide along each stator unit; the at least one mover unit includes a first mover unit, the plurality of stator units include a first stator unit and a second stator unit, and the stator splicing gap determining device includes:

[0076] A distance acquisition unit 41 is used to connect the first mover unit with the second mover unit through a connecting member to acquire the distance between the first mover unit and the second mover unit;

[0077] The control unit 42 is further used to control the first mover unit to be located in the first stator unit interval, and control the second mover unit to be located in the second stator unit interval;

[0078] A position acquisition unit 43, used to acquire a first absolute position of the first mover unit and a second absolute position of the second mover unit;

[0079] The gap determination unit 44 is used to determine the splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance.

[0080] The specific implementation of the stator splicing gap determination device of the present application is basically the same as the various embodiments of the stator splicing gap determination method described above, and will not be repeated here.

[0081] A stator splicing gap determination device provided in an embodiment of the present application can calculate the splicing gap based on the absolute position and actual position difference between different stators. The device is easy to operate and has low correction cost. The splicing gap is calculated to compensate for the absolute position of the encoder, thereby improving the system positioning accuracy and reducing the system speed fluctuation.

[0082] Based on the same inventive concept, Figure 5 As shown, Figure 5 Schematic diagram of the structure of the hardware operating environment of the computer device involved in the embodiment of the present application. The computer device may include: a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen, an input unit such as a keyboard, and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory, such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0083] Those skilled in the art will understand that Figure 5 The computer device structure shown in the figure does not constitute a limitation on the computer device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Specifically, the computer device may be a servo drive or a host computer.

[0084] like Figure 5 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a stator splicing gap determination method program. Among them, the operating system is a program that manages and controls the hardware and software resources of computer equipment, the stator splicing gap determination method program and other software or programs.

[0085] exist Figure 5In the computer device shown, the user interface 1003 is mainly used to connect to the terminal and communicate data with the terminal; the network interface 1004 is mainly used for the background server and communicates data with the background server; the processor 1001 can be used to call the stator splicing gap determination method program stored in the memory 1005.

[0086] In this embodiment, the computer device includes: a memory 1005, a processor 1001, and a stator splicing gap determination method program stored in the memory and executable on the processor, wherein when the processor 1001 calls the stator splicing gap determination method program stored in the memory 1005, the following operations are performed:

[0087] Connecting the first mover unit to the second mover unit via a connecting member;

[0088] Acquire a distance between the first mover unit and the second mover unit;

[0089] Controlling the first mover unit to be located in the first stator unit interval, and controlling the second mover unit to be located in the second stator unit interval;

[0090] Acquire a first absolute position of the first mover unit and a second absolute position of the second mover unit;

[0091] A splicing gap between the first stator unit and the second stator unit is determined according to the first absolute position, the second absolute position, and the distance.

[0092] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, which stores a stator splicing gap determination method program. When the stator splicing gap determination method program is executed by a processor, it implements the various steps of the stator splicing gap determination method as described above and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0093] Since the storage medium provided in the embodiments of the present application is the storage medium used to implement the method of the embodiments of the present application, based on the method introduced in the embodiments of the present application, the person skilled in the art can understand the specific structure and deformation of the storage medium, so it is not repeated here. All storage media used in the methods of the embodiments of the present application belong to the scope of protection of this application.

[0094] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0095] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, TV, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0097] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for determining a stator splicing gap, applied to a linear conveying system, wherein the linear conveying system comprises a plurality of stator units, at least one mover unit, and a control unit, wherein two adjacent stator units are spliced ​​and fixed and have a splicing gap, and the control unit controls the mover unit to slide along each stator unit; the at least one mover unit comprises a first mover unit, and the plurality of stator units comprises a first stator unit and a second stator unit, wherein: The method comprises: Connecting the first mover unit to the second mover unit via a connecting member; Acquire a distance between the first mover unit and the second mover unit; Controlling the first mover unit to be located in the first stator unit interval, and controlling the second mover unit to be located in the second stator unit interval; Acquire a first absolute position of the first mover unit and a second absolute position of the second mover unit; A splicing gap between the first stator unit and the second stator unit is determined according to the first absolute position, the second absolute position, and the distance.

2. The method for determining the stator splicing gap according to claim 1, characterized in that: The obtaining the distance between the first mover unit and the second mover unit includes: Controlling the first mover unit and the second mover unit to be located in the same stator unit interval; Acquiring a third absolute position of the first mover unit and a fourth absolute position of the second mover unit; The distance between the first mover unit and the second mover unit is determined according to the third absolute position and the fourth absolute position.

3. The method for determining stator splicing gap according to claim 1, characterized in that: The obtaining the distance between the first mover unit and the second mover unit includes: The preset length value associated with the connecting member is determined as the distance between the first mover unit and the second mover unit.

4. The method for determining the stator splicing gap according to claim 1, characterized in that: Detection chips are arranged on the multiple stator units, and encoder-mover assemblies are arranged on the mover units corresponding to the detection chips. The detection chips sense the encoder-mover assemblies to detect the positions of the mover units, and the encoder-mover assemblies are located at the lateral center of the mover units.

5. The method for determining the stator splicing gap according to claim 4, characterized in that: The obtaining the distance between the first mover unit and the second mover unit includes: Acquire a transverse center distance between the first mover unit and the second mover unit; The determining a splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance includes: The splicing gap is obtained by subtracting the sum of the lateral center distance and the first absolute position from the second absolute position.

6. The method for determining stator splicing gap according to claim 1, characterized in that: The length of the connecting member is smaller than a maximum distance between the first stator unit and the second stator unit.

7. The method for determining a stator splicing gap according to claim 1, after determining the splicing gap between the first stator unit and the second stator unit, further comprising: When the mover unit moves from the first stator unit to the second stator unit via the splicing gap, acquiring the alignment position of the mover unit; The absolute position of the mover unit is compensated according to the assembly gap.

8. A stator splicing gap determination device, applied to a linear conveying system, the linear conveying system comprising a plurality of stator units, at least one mover unit, and a control unit, two adjacent stator units are spliced ​​and fixed and have a splicing gap, the control unit controls the mover unit to slide along each stator unit; the at least one mover unit comprises a first mover unit, the plurality of stator units comprises a first stator unit and a second stator unit, characterized in that: include: a distance acquisition unit, used to connect the first mover unit with the second mover unit through a connecting member, and acquire the distance between the first mover unit and the second mover unit; The control unit is further used to control the first mover unit to be located in the first stator unit interval, and control the second mover unit to be located in the second stator unit interval; a position acquisition unit, configured to acquire a first absolute position of the first mover unit and a second absolute position of the second mover unit; A gap determination unit is used to determine a splicing gap between the first stator unit and the second stator unit according to the first absolute position, the second absolute position and the distance.

9. A computer device, characterized in that: The device comprises: a memory, a processor, and a stator splicing gap determination method program stored in the memory and running on the processor. When the stator splicing gap determination method program is executed by the processor, the steps of the stator splicing gap determination method as described in any one of claims 1-7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a stator splicing gap determination method program, and when the stator splicing gap determination method program is executed by a processor, the steps of the stator splicing gap determination method described in any one of claims 1-7 are implemented.

Images